multi_plane_sac_segmentation.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
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00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_MULTI_PLANE_SEGMENTATION_H_
00038 #define JSK_PCL_ROS_MULTI_PLANE_SEGMENTATION_H_
00039 
00040 #include <pcl_ros/pcl_nodelet.h>
00041 #include "jsk_pcl_ros/pcl_util.h"
00042 #include "jsk_pcl_ros/geo_util.h"
00043 #include "jsk_pcl_ros/pcl_conversion_util.h"
00044 #include <dynamic_reconfigure/server.h>
00045 #include <message_filters/subscriber.h>
00046 #include <message_filters/time_synchronizer.h>
00047 #include <message_filters/sync_policies/approximate_time.h>
00048 #include <message_filters/synchronizer.h>
00049 
00050 #include <jsk_pcl_ros/MultiPlaneSACSegmentationConfig.h>
00051 #include <jsk_topic_tools/connection_based_nodelet.h>
00052 #include "jsk_pcl_ros/tf_listener_singleton.h"
00053 
00054 
00056 // messages
00058 #include <sensor_msgs/PointCloud2.h>
00059 #include <jsk_recognition_msgs/PolygonArray.h>
00060 #include <jsk_recognition_msgs/ModelCoefficientsArray.h>
00061 #include <jsk_recognition_msgs/ClusterPointIndices.h>
00062 #include <sensor_msgs/Imu.h>
00063 
00064 namespace jsk_pcl_ros
00065 {
00066   class MultiPlaneSACSegmentation: public jsk_topic_tools::ConnectionBasedNodelet
00067   {
00068   public:
00069     typedef pcl::PointXYZRGB PointT;
00070     typedef jsk_pcl_ros::MultiPlaneSACSegmentationConfig Config;
00071     typedef message_filters::sync_policies::ExactTime<
00072       sensor_msgs::PointCloud2,
00073       sensor_msgs::PointCloud2 > SyncPolicy;
00074     typedef message_filters::sync_policies::ExactTime<
00075       sensor_msgs::PointCloud2,
00076       jsk_recognition_msgs::ClusterPointIndices > SyncClusterPolicy;
00077     typedef message_filters::sync_policies::ApproximateTime<
00078       sensor_msgs::PointCloud2,
00079       sensor_msgs::Imu
00080       > SyncImuPolicy;
00081     typedef message_filters::sync_policies::ApproximateTime<
00082       sensor_msgs::PointCloud2,
00083       sensor_msgs::PointCloud2,
00084       sensor_msgs::Imu
00085       > SyncNormalImuPolicy;
00086     typedef message_filters::Synchronizer<SyncNormalImuPolicy>
00087     NormalImuSynchronizer;
00088   protected:
00090     // methods
00092     virtual void onInit();
00093     
00094     virtual void segment(const sensor_msgs::PointCloud2::ConstPtr& msg);
00095     virtual void segment(const sensor_msgs::PointCloud2::ConstPtr& msg,
00096                          const sensor_msgs::PointCloud2::ConstPtr& msg_nromal);
00097     virtual void segmentWithImu(const sensor_msgs::PointCloud2::ConstPtr& msg,
00098                                 const sensor_msgs::Imu::ConstPtr& imu);
00099     virtual void segmentWithImu(const sensor_msgs::PointCloud2::ConstPtr& msg,
00100                                 const sensor_msgs::PointCloud2::ConstPtr& msg_nromal,
00101                                 const sensor_msgs::Imu::ConstPtr& imu);
00102     virtual void segmentWithClusters(
00103       const sensor_msgs::PointCloud2::ConstPtr& msg,
00104       const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& clusters);
00105     virtual void applyRecursiveRANSAC(
00106       const pcl::PointCloud<PointT>::Ptr& input,
00107       const pcl::PointCloud<pcl::Normal>::Ptr& normal,
00108       const Eigen::Vector3f& imu_vector,
00109       std::vector<pcl::PointIndices::Ptr>& output_inliers,
00110       std::vector<pcl::ModelCoefficients::Ptr>& output_coefficients,
00111       std::vector<ConvexPolygon::Ptr>& output_polygons);
00112     virtual void publishResult(
00113       const std_msgs::Header& header,
00114       const std::vector<pcl::PointIndices::Ptr>& inliers,
00115       const std::vector<pcl::ModelCoefficients::Ptr>& coefficients,
00116       const std::vector<ConvexPolygon::Ptr>& convexes);
00117     virtual void configCallback (Config &config, uint32_t level);
00118 
00119     virtual void subscribe();
00120     virtual void unsubscribe();
00121     
00123     // ROS variabels
00125     ros::Subscriber sub_;
00126     ros::Publisher pub_inliers_, pub_coefficients_, pub_polygons_;
00127     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00128     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00129     boost::shared_ptr<message_filters::Synchronizer<SyncClusterPolicy> > sync_cluster_;
00130     boost::shared_ptr<message_filters::Synchronizer<SyncImuPolicy> > sync_imu_;
00131     boost::shared_ptr<message_filters::Synchronizer<SyncNormalImuPolicy> > sync_normal_imu_;
00132     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
00133     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_normal_;
00134     message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_clusters_;
00135     message_filters::Subscriber<sensor_msgs::Imu> sub_imu_;
00136     boost::mutex mutex_;
00137     tf::TransformListener* tf_listener_;
00138     
00140     // parameters
00142     double outlier_threshold_;
00143     int min_inliers_;
00144     int min_points_;
00145     int max_iterations_;
00146     bool use_normal_;
00147     bool use_clusters_;
00148     bool use_imu_parallel_;
00149     bool use_imu_perpendicular_;
00150     double eps_angle_;
00151     double normal_distance_weight_;
00152     int min_trial_;
00153   private:
00154     
00155   };
00156 }
00157 
00158 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:48